CN109304703A - A kind of three translation parallel mechanism manipulator of zero degree of coupling - Google Patents
A kind of three translation parallel mechanism manipulator of zero degree of coupling Download PDFInfo
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- CN109304703A CN109304703A CN201811201091.XA CN201811201091A CN109304703A CN 109304703 A CN109304703 A CN 109304703A CN 201811201091 A CN201811201091 A CN 201811201091A CN 109304703 A CN109304703 A CN 109304703A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
A kind of three translation parallel mechanism manipulator of zero degree of coupling, comprising the first mixing branch, the second mixing branch and silent flatform (0), moving platform (1), the first mixing branch by the same plane, the one (R of parallelogram that is made of four revolute pairsa1Rb1Rc1Rd1) and two (R of parallelograma2Rb2Rc2Rd2) adjacent short sides (Rc1Rd1、Ra2Rb2) by component one (4) be rigidly connected after, parallelogram two again with three (R of parallelograma3Rb3Rc3Rd3) adjacent short sides (Rc2Rd2、Ra3Rb3) be rigidly connected by component two (7), but parallelogram two and the plane of movement of parallelogram three are mutually perpendicular to；And the second mixing branch connects in this way: component three (11)‑‑‑Left ball pair (S32)‑‑‑Component four (14)‑‑‑Intermediate pair (S23)‑‑‑Component five (13)‑‑‑Right ball pair (S22)‑‑‑Component six (12), further, component three (11), component six (12) the other end pass through revolute pair respectively and connect in any direction with silent flatform (0), and component five (13) is in intermediate pair (S23) at elongated end pass through upper sphere pair (S33) connect with moving platform (1).
Description
Technical field
The present invention relates to a kind of parallel robot mechanism, one new, zero degree of coupling three is provided for parallel robot etc.
Translation parallel connection mechanism manipulator.
Background technique
The manipulator of three translation parallel-connection structures has obtained industrial application, and Clavel has invented famous D translation
Delta mechanism, many scholars have studied the derivative mechanism of Delta mechanism later, and Tsai etc. proposes a kind of mobile auxiliary drive, branch
The three-freedom mobile parallel connection mechanism of chain parallelogram mechanism containing 4R；Kong etc. proposes a kind of Three Degree Of Freedom 3-CRR mechanism；
Li Shihua etc. proposes a kind of translation of novel 3-RRUR tri- planar parallel mechanism；It is flat that Lu Jing etc. proposes a kind of 3-RRRP (4R) three
Telephone-moving structure；Zeng etc. devises one kind three and translates Tri-pyramid parallel institution；Mazare etc. proposes a kind of Three Degree Of Freedom
3- [P2 (US)] mechanism, and kinematics and Analysis of Dexterity Degree have been carried out to mechanism.
But the three translation parallel mechanism of zero degree of coupling is not much.Therefore, to propose that three translations of the zero new degree of coupling are in parallel
Mechanism.
Summary of the invention
The invention aims to overcome the deficiencies in the prior art, and provide a zero new degree of coupling three and translate parallel machine
Structure, this mechanism have many advantages, such as that structure is simple, zero degree of coupling, analytic expression forward kinematics solution.
The technical scheme is that a kind of three translation parallel mechanism manipulator of zero degree of coupling, includes the first mixing branch
Chain, second mixing branch and the two connection silent flatform (0), moving platform (1), it is characterised in that: first mixing branch by
One (R of parallelogram in same plane, being made of four revolute pairsa1Rb1Rc1Rd1) and parallelogram two
(Ra2Rb2Rc2Rd2) adjacent short sides (Rc1Rd1、Ra2Rb2) be rigidly connected by component one (4) after, parallelogram two again with it is flat
Three (R of row quadranglea3Rb3Rc3Rd3) adjacent short sides (Rc2Rd2、Ra3Rb3) be rigidly connected by component two (7), but parallel four side
Shape two and the plane of movement of parallelogram three are mutually perpendicular to, further, another short side (R of parallelogram threec3Rd3) and it is dynamic
One end of platform (1) is fixedly connected, another short side (R of parallelogram onea1Rb1) be fixedly connected with silent flatform (0)；And the
Two mixing branches are such connection structures: component three (11)---Left ball pair (S32)---Component four (14)---Intermediate pair
(S23)---Component five (13)---Right ball pair (S22)---The connection of component six (12) sequential series, further, component three (11), component
The other end of six (12) passes through one (R of revolute pair respectively31), two (R of revolute pair21), it is connect in any direction with silent flatform (0), and
Component five (13) is in intermediate pair (S23) at elongated end pass through upper sphere pair (S33) connect with the other end of moving platform (1).The machine
The degree of coupling of structure is zero, therefore, has the forward kinematics solution of parsing.
As the one (R of revolute pair on silent flatform (0)11), two (R of revolute pair21) and parallelogram one a revolute pair
(Ra1Or Rb1) it is when driving secondary, moving platform (1) generates three translational motions；Further, one (R of revolute pair31), two (R of revolute pair21)
And parallelogram one itself can use one (P of prismatic pair respectively1), two (P of prismatic pair2), three (P of prismatic pair3) substitute.
Detailed description of the invention
Attached drawing 1, the structural schematic diagram that Fig. 2 is two embodiments of the invention.
Specific embodiment
Technology of the invention is given below by attached drawing and example and is further explained.
Parallel institution shown in FIG. 1 can be the embodiment of the present invention, and technical solution is such that zero degree of coupling of one kind
Three translation parallel mechanism manipulator comprising the first mixing branch, the second mixing branch and the silent flatform 0 of the two connection, moves and puts down
Platform 1, the first mixing branch by the same plane, one R of parallelogram that is made of four revolute pairsa1Rb1Rc1Rd1With it is flat
Two R of row quadranglea2Rb2Rc2Rd2Adjacent short sides Rc1Rd1、Ra2Rb2After being rigidly connected by component 1, parallelogram two is again
With three R of parallelograma3Rb3Rc3Rd3Adjacent short sides Rc2Rd2、Ra3Rb3It is rigidly connected by component 27, but parallelogram
Two are mutually perpendicular to the plane of movement of parallelogram three, further, another short side R of parallelogram threec3Rd3With moving platform
1 one end is fixedly connected, another short side R of parallelogram onea1Rb1It is fixedly connected with silent flatform 0；And the second mixing branch is
The structure connected in this way: component 3 11---Left ball secondary S32 ---Component 4 14---Intermediate secondary S23 ---Component 5 13---Right ball pair
S22 ---6 12 sequential series of component connection, further, component 3 11, component 6 12 the other end pass through one R of revolute pair respectively31、
Two R of revolute pair21, it is connect in any direction with silent flatform 0, and component 5 13 is in intermediate secondary S23The elongated end at place passes through upper ball
Secondary S33It is connect with the other end of moving platform 1.
As one R of revolute pair on silent flatform 011, two R of revolute pair21An and revolute pair R of parallelogram onea1Or Rb1
When secondary for driving, moving platform 1 generates the output campaign of three translations；Further, two R of revolute pair11, three R of revolute pair21And it is parallel
Quadrangle one itself can use one P of prismatic pair respectively1, two P of prismatic pair2, three P of prismatic pair3It substitutes, as shown in Figure 2.The two machines
The degree of coupling of structure is zero, therefore, can obtain the position forecast of analytic expression.
Claims (2)
1. a kind of three translation parallel mechanism manipulator of zero degree of coupling includes the first mixing branch, the second mixing branch and two
Person connection silent flatform (0), moving platform (1), it is characterised in that: first mixing branch by the same plane, by four turn
One (the R of parallelogram of dynamic secondary compositiona1Rb1Rc1Rd1) and two (R of parallelograma2Rb2Rc2Rd2) adjacent short sides (Rc1Rd1、
Ra2Rb2) by component one (4) be rigidly connected after, parallelogram two again with three (R of parallelograma3Rb3Rc3Rd3) it is adjacent short
Side (Rc2Rd2、Ra3Rb3) be rigidly connected by component two (7), but the plane of movement phase of parallelogram two and parallelogram three
It is mutually vertical, further, another short side (R of parallelogram threec3Rd3) be fixedly connected with one end of moving platform (1), parallel four side
Another short side (R of shape onea1Rb1) be fixedly connected with silent flatform (0)；And the second mixing branch is such connection structure: component
Three (11)---Left ball pair (S32)---Component four (14)---Intermediate pair (S23)---Component five (13)---Right ball pair (S22)---Component six
(12) sequential series connect, further, component three (11), component six (12) the other end pass through one (R of revolute pair respectively31), turn
Dynamic two (R of pair21), it is connect in any direction with silent flatform (0), and component five (13) is in intermediate pair (S23) at elongated end it is logical
Cross upper sphere pair (S33) connect with the other end of moving platform (1), this topological constraints make the degree of coupling zero of the mechanism, therefore, tool
There is the forward kinematics solution of parsing.
2. by the three translation parallel mechanism manipulator of zero degree of coupling described in claim one, it is characterised in that: on silent flatform (0)
One (R of revolute pair11), two (R of revolute pair21) and parallelogram one a revolute pair (Ra1Or Rb1) it is when driving secondary, to move
Platform (1) generates the output campaign of three translations；Further, one (R of revolute pair31), two (R of revolute pair21) and parallelogram one
One (P of prismatic pair itself can be used respectively1), two (P of prismatic pair2), three (P of prismatic pair3) substitute.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142744A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has three translation shunting means of analytic expression position forecast |
| CN110142745A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has two translations, the one rotation shunting means of analytic expression position forecast |
| CN110154000A (en) * | 2019-06-11 | 2019-08-23 | 常州大学 | A kind of zero degree of coupling has three one rotating parallel device people of translation of analytic expression position forecast |
| CN110153998A (en) * | 2019-06-11 | 2019-08-23 | 常州大学 | A kind of zero degree of coupling has two three one-rotation parallel mechanisms of translation of analytic expression position forecast |
| CN111230842A (en) * | 2020-02-24 | 2020-06-05 | 常州大学 | Three-translation parallel manipulator with coupling degree of 1 and forward position analysis and motion decoupling |
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| CN105666465A (en) * | 2016-03-12 | 2016-06-15 | 常州大学 | Low-coupling degree three-translation one-rotation parallel robot manipulator with two-kinematic pair mobile platform |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142744A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has three translation shunting means of analytic expression position forecast |
| CN110142745A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has two translations, the one rotation shunting means of analytic expression position forecast |
| CN110154000A (en) * | 2019-06-11 | 2019-08-23 | 常州大学 | A kind of zero degree of coupling has three one rotating parallel device people of translation of analytic expression position forecast |
| CN110153998A (en) * | 2019-06-11 | 2019-08-23 | 常州大学 | A kind of zero degree of coupling has two three one-rotation parallel mechanisms of translation of analytic expression position forecast |
| CN110154000B (en) * | 2019-06-11 | 2021-12-21 | 常州大学 | Three-translation one-rotation parallel robot with zero coupling degree and analytic position positive solution |
| CN110153998B (en) * | 2019-06-11 | 2022-03-08 | 常州大学 | Zero-coupling-degree two-translation three-rotation parallel mechanism with analytic position positive solution |
| CN110142744B (en) * | 2019-06-11 | 2022-05-17 | 常州大学 | Three-translation parallel device with zero coupling degree and analytic position positive solution |
| CN110142745B (en) * | 2019-06-11 | 2022-05-20 | 常州大学 | Zero-coupling-degree two-translation one-rotation parallel device with analytic position positive solution |
| CN111230842A (en) * | 2020-02-24 | 2020-06-05 | 常州大学 | Three-translation parallel manipulator with coupling degree of 1 and forward position analysis and motion decoupling |
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